{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:RUS6WF3TWXILYCRH7R4R4SPDIH","short_pith_number":"pith:RUS6WF3T","canonical_record":{"source":{"id":"2005.03747","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-07T20:48:10Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"19141cc33852c2de6e95ca06a9aeb2ecc9ec5000ac8959b27a326e15a12e58e2","abstract_canon_sha256":"af5189ab59f56784bf1aac4dd0664777635af89a199ef43a8caa6d4e932f7e9f"},"schema_version":"1.0"},"canonical_sha256":"8d25eb1773b5d0bc0a27fc791e49e341c29a7d4f5bfb4b54c730144d55d30126","source":{"kind":"arxiv","id":"2005.03747","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.03747","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"arxiv_version","alias_value":"2005.03747v1","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.03747","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_12","alias_value":"RUS6WF3TWXIL","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_16","alias_value":"RUS6WF3TWXILYCRH","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_8","alias_value":"RUS6WF3T","created_at":"2026-07-05T01:01:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:RUS6WF3TWXILYCRH7R4R4SPDIH","target":"record","payload":{"canonical_record":{"source":{"id":"2005.03747","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-07T20:48:10Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"19141cc33852c2de6e95ca06a9aeb2ecc9ec5000ac8959b27a326e15a12e58e2","abstract_canon_sha256":"af5189ab59f56784bf1aac4dd0664777635af89a199ef43a8caa6d4e932f7e9f"},"schema_version":"1.0"},"canonical_sha256":"8d25eb1773b5d0bc0a27fc791e49e341c29a7d4f5bfb4b54c730144d55d30126","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:01:25.634856Z","signature_b64":"Zw9od7USSuK9zVoPxfhzvk1lVFHT8GspQlNjfzHuXF3KRM/PDeIez42Z49rCrAM5VwCB7hFCAkKLWYI/pr/vCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8d25eb1773b5d0bc0a27fc791e49e341c29a7d4f5bfb4b54c730144d55d30126","last_reissued_at":"2026-07-05T01:01:25.634438Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:01:25.634438Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.03747","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:01:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ndD/KQIru+HsRtgZmX5OzXIhkkcO3YRs9fdq0UjmbWRV3PTFdneVUhUQImupHgLAu0ThE6dTLKuGw8W4/uFIAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-22T00:32:51.296875Z"},"content_sha256":"1950af7e83fd4f237e35d48ba501f9c17425d2ad4fef71f23c34baf5900f049e","schema_version":"1.0","event_id":"sha256:1950af7e83fd4f237e35d48ba501f9c17425d2ad4fef71f23c34baf5900f049e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:RUS6WF3TWXILYCRH7R4R4SPDIH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design and Kinematic Optimization of a Novel Underactuated Robotic Hand Exoskeleton","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Antonio Frisoli, Edoardo Sotgiu, Massimiliano Solazzi, Massimo Bergamasco, Mine Sarac","submitted_at":"2020-05-07T20:48:10Z","abstract_excerpt":"This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different finger sizes. Thus, the easiness of the attachment to the user's fingers and better comfort have been ensured. The analyses of the device kinematic pose, statics, and stability of grasp have been performed. These analyses have been used to optimize th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.03747","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2005.03747/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:01:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PQwIsMPQqzoiNmhkkzW6UrsZMts77fcaalPCGXZ1zijGeVKyhDS20himQs343NriO5XhsHx08dfxEunEcVu1Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-22T00:32:51.297248Z"},"content_sha256":"31914aba112b09e525a4cd6535a734bf6fdb5e88e301788dcf2bdd69d8155123","schema_version":"1.0","event_id":"sha256:31914aba112b09e525a4cd6535a734bf6fdb5e88e301788dcf2bdd69d8155123"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/bundle.json","state_url":"https://pith.science/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-22T00:32:51Z","links":{"resolver":"https://pith.science/pith/RUS6WF3TWXILYCRH7R4R4SPDIH","bundle":"https://pith.science/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/bundle.json","state":"https://pith.science/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RUS6WF3TWXILYCRH7R4R4SPDIH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:RUS6WF3TWXILYCRH7R4R4SPDIH","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"af5189ab59f56784bf1aac4dd0664777635af89a199ef43a8caa6d4e932f7e9f","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-07T20:48:10Z","title_canon_sha256":"19141cc33852c2de6e95ca06a9aeb2ecc9ec5000ac8959b27a326e15a12e58e2"},"schema_version":"1.0","source":{"id":"2005.03747","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.03747","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"arxiv_version","alias_value":"2005.03747v1","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.03747","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_12","alias_value":"RUS6WF3TWXIL","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_16","alias_value":"RUS6WF3TWXILYCRH","created_at":"2026-07-05T01:01:25Z"},{"alias_kind":"pith_short_8","alias_value":"RUS6WF3T","created_at":"2026-07-05T01:01:25Z"}],"graph_snapshots":[{"event_id":"sha256:31914aba112b09e525a4cd6535a734bf6fdb5e88e301788dcf2bdd69d8155123","target":"graph","created_at":"2026-07-05T01:01:25Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2005.03747/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different finger sizes. Thus, the easiness of the attachment to the user's fingers and better comfort have been ensured. The analyses of the device kinematic pose, statics, and stability of grasp have been performed. These analyses have been used to optimize th","authors_text":"Antonio Frisoli, Edoardo Sotgiu, Massimiliano Solazzi, Massimo Bergamasco, Mine Sarac","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-07T20:48:10Z","title":"Design and Kinematic Optimization of a Novel Underactuated Robotic Hand Exoskeleton"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.03747","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:1950af7e83fd4f237e35d48ba501f9c17425d2ad4fef71f23c34baf5900f049e","target":"record","created_at":"2026-07-05T01:01:25Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"af5189ab59f56784bf1aac4dd0664777635af89a199ef43a8caa6d4e932f7e9f","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-07T20:48:10Z","title_canon_sha256":"19141cc33852c2de6e95ca06a9aeb2ecc9ec5000ac8959b27a326e15a12e58e2"},"schema_version":"1.0","source":{"id":"2005.03747","kind":"arxiv","version":1}},"canonical_sha256":"8d25eb1773b5d0bc0a27fc791e49e341c29a7d4f5bfb4b54c730144d55d30126","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8d25eb1773b5d0bc0a27fc791e49e341c29a7d4f5bfb4b54c730144d55d30126","first_computed_at":"2026-07-05T01:01:25.634438Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:01:25.634438Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Zw9od7USSuK9zVoPxfhzvk1lVFHT8GspQlNjfzHuXF3KRM/PDeIez42Z49rCrAM5VwCB7hFCAkKLWYI/pr/vCw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:01:25.634856Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.03747","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1950af7e83fd4f237e35d48ba501f9c17425d2ad4fef71f23c34baf5900f049e","sha256:31914aba112b09e525a4cd6535a734bf6fdb5e88e301788dcf2bdd69d8155123"],"state_sha256":"2637b8337a35dca1fe7a06974d24cdada0317bca507433e685aaae7f62683ba8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fa+DTmNH4tFS2Etv9rx1QluOAqRN0kghy7/+NluIFoFMMfrMuqH5Q2wDAXF9Ad40Mf0YUd55YNGwPp4bdHvxDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-22T00:32:51.299327Z","bundle_sha256":"6402377df8171d6fd38ac486715a70912512de957619a166b4326a52691071b8"}}